CN109189230B - Pen-type force-touch reproduction device for touch screen application and force control method thereof - Google Patents
Pen-type force-touch reproduction device for touch screen application and force control method thereof Download PDFInfo
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- CN109189230B CN109189230B CN201811275324.0A CN201811275324A CN109189230B CN 109189230 B CN109189230 B CN 109189230B CN 201811275324 A CN201811275324 A CN 201811275324A CN 109189230 B CN109189230 B CN 109189230B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
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Abstract
The invention discloses a pen type force-touch reappearing device facing to a touch screen application and a force control method thereof, and aims to improve a device and a method used for realizing force feedback in the invention patent ZL 201610111304.4. The device improvement comprises: (1) a displacement sensor is added; (2) combining the magnetorheological fluid damper with a voice coil motor to form a hybrid force feedback actuator; (3) a Hall sensor is added in the magnetorheological fluid damper, and a magnetic sealing technology is adopted. The proposed force feedback control method divides the virtual interaction force into two parts, a low-frequency force signal and a high-frequency force signal, and respectively adopts a magnetorheological fluid damper and a voice coil motor to reproduce. The Hall sensor is integrated in the magnetorheological fluid damper, so that the problem that the output force of the damper cannot be accurately predicted and controlled due to the hysteresis effect is solved. The device can reproduce the virtual interaction force to the user with high precision in a large output force range, and improve the reality and the continuity of the interaction between the user and the touch screen by using the device.
Description
Technical Field
The invention belongs to a man-machine interaction interface device in the field of man-machine interaction, and particularly relates to a pen-type force-touch reproduction device capable of accurately reproducing virtual interaction force and a force feedback control method.
Background
The implementation of haptic interaction with a virtual environment on a touch screen requires the use of haptic interface devices that are adapted to the portability of smart devices. Today, there is a lot of research into applying different types of devices to interact with touch screens, and pen-type devices have attracted a lot of attention with their advantages in terms of portability and natural interaction. Some of these Pen-based input devices have been put into commercial use, such as Apple Pencil, Inc. of America, Microsoft Surface Pen, Inc. of America, and Samsung S-Pen, Inc. of Korea, among others. These devices are useful for improving the accuracy of touch screen operation. However, in order to adapt to the portability of mobile terminals, conventional pen-type force tactile devices are mostly focused on generating tactile stimuli during interactive operations such as clicking and sliding by users in pursuit of miniaturization, but rarely express force information generated during the interaction.
In the invention patent pen type force-touch reproducing device facing multimedia mobile terminal interactive application (ZL201610111304.4), we have introduced a pen type force-touch reproducing device in order to reproduce virtual interactive force. The device only uses one direct-acting magnetorheological fluid damper to provide passive force feedback for a user, and a spring is added at one end of the damper to reduce the influence of initial damping force on the accuracy of the force feedback. While magnetorheological fluid dampers have a greater force-to-volume ratio than active actuators (e.g., motors), there are some disadvantages, such as: (1) the output force cannot be accurately predicted and controlled due to the influence of the initial damping force and the hysteresis effect; (2) the response precision of the magnetorheological fluid damper to the high-frequency force signal is not enough; (3) due to the passive characteristic, the damper cannot be automatically reset.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the problems of the background art, and the invention improves the force feedback structure of the device in patent ZL201610111304.4, and forms a mixed force feedback actuator by combining a magnetorheological fluid damper and a voice coil motor; and a force feedback control method capable of accurately reproducing a virtual interaction force when performing a linear motion is provided, thereby improving the sense of realism and continuity of interaction of a user with a touch screen using the device.
The technical scheme is as follows: the technical scheme of the invention is as follows: a pen type force-touch reappearing device applied to a touch screen comprises a capacitance pen point, a connecting cylinder, a displacement sensor, a lantern ring, a connecting rod, a cylindrical pen shell, a magnetorheological fluid damper, a voice coil motor, a square pen shell, a vibrating motor, a rechargeable battery, a measurement and control circuit, a piezoelectric ceramic vibrator, a toggle switch and a cover;
the magnetorheological fluid damper comprises a left piston rod, a piston and a right piston rod;
the connecting cylinder and the square pen shell are connected with the cylindrical pen shell through tight fit to form a main body structure of the device; the cylinder opening of the connecting cylinder is provided with internal threads, and the capacitance pen point is fixed at the cylinder opening of the connecting cylinder through the threads and used for realizing interaction and positioning between the device and the touch screen; the displacement sensor is fixed in the connecting cylinder and is connected with a left piston rod of the magnetorheological fluid damper through threads; the lantern ring is sleeved outside the connecting cylinder and can freely slide outside the connecting cylinder; the right end of the lantern ring is provided with two small holes, the connecting rod can penetrate through the two small holes through tight fit to be connected, and the length of the connecting rod is the same as the diameter of the lantern ring; the part of the connecting cylinder connected with the cylindrical pen shell is provided with a notch, and the connecting rod can move in the notch; the magnetorheological fluid damper is fixed in the cylindrical pen shell in a limiting manner, a connecting hole is formed in the left end of a left piston rod of the magnetorheological fluid damper, and the connecting rod is fixed in the connecting hole in a tight fit manner; the voice coil motor is fixed inside the square pen shell, and a moving coil of the voice coil motor is connected with a right piston rod of the magnetorheological fluid damper through threads; when fingers hold the lantern ring to move left and right on the connecting cylinder, the lantern ring can drive the left piston rod, the piston, the right piston rod and the moving coil of the voice coil motor to move together through the connecting rod; the rechargeable battery, the vibrating motor, the measurement and control circuit, the piezoelectric ceramic vibrator and the toggle switch are positioned in the square pen shell; the measurement and control circuit is respectively connected with the displacement sensor, the magnetorheological fluid damper, the voice coil motor, the vibration motor, the rechargeable battery, the piezoelectric ceramic vibrator and the toggle switch through leads; the toggle switch part is exposed outside the square pen shell; the square pen shell is provided with a cover for opening and closing.
As a further preferable scheme, the magnetorheological fluid damper further comprises a shell, the shell is of a tubular structure with openings at two ends, two ends of the shell are respectively provided with a sealing cover with a through hole, and a piston is arranged in the shell; a small annular gap is formed between the inner wall of the shell and the outer wall of the piston and is used as a working area of the magnetorheological fluid; the two sides of the piston are respectively in threaded connection with the left piston rod and the right piston rod, and the left piston rod and the right piston rod both penetrate through holes of the sealing covers on the respective sides; magnetorheological fluid is filled at the peripheries of the left piston rod and the right piston rod; a Hall sensor is integrated on one side, close to the left piston rod, of the piston and is in direct contact with magnetorheological fluid in a working area; the sealing cover is sequentially provided with a waterproof sponge, a circular magnetic ring, an aluminum ring and a sealing ring which are sleeved on the left piston rod or the right piston rod towards the piston direction so as to realize magnetic sealing of the magnetorheological fluid damper; an exciting coil wound by enameled wires is arranged on a bobbin of the piston; the right end of the exciting coil is provided with a leading-out wire which is led out through the right end of the piston and a small hole in the right piston rod.
A force control method of a pen-type force-haptic rendering device for a touch screen application, the force control method comprising the steps of:
step 1: constructing a calibration platform of the magnetorheological fluid damper and the voice coil motor, wherein the platform comprises a direct current stabilized power supply, a dynamometer, a position driver, an oscilloscope and a fixing device, and performing a calibration test of the magnetorheological fluid damper; under different current levels, the position driver drives the dynamometer to pull the piston of the magnetorheological fluid damper at a constant speed so as to enable the piston and the shell to move relatively; the oscilloscope displays and records the damping force of the magnetorheological fluid damper measured by the dynamometer and the Hall sensor and the magnetic induction intensity acted on the magnetorheological fluid working area, carries out the calibration test of the voice coil motor, adopts the same device and test method as the calibration test of the magnetorheological fluid damper, thereby respectively obtaining a force-current relation curve, a force-magnetic induction intensity relation curve and a magnetic induction intensity-current relation curve of the magnetorheological fluid damper and a force-current relation curve of the voice coil motor;
step 2: the intelligent equipment with the touch screen is horizontally placed on a desktop, the pen type force-touch reproducing device is connected with the intelligent equipment through Bluetooth, and a virtual scene displayed on the intelligent equipment is initialized;
and step 3: a user holds the device by one hand to slide on the surface of the touch screen, and when a virtual agent of the device in a virtual scene collides with a virtual object, a vibration motor generates a specific vibration prompt;
and 4, step 4: the user enables the capacitive pen point of the device and the touch screen to be relatively static and vertical according to the vibration prompt, and then the user holds the lantern ring by using a thumb and a forefinger and presses downwards;
and 5: during the compression, the virtual interaction force is accurately reproduced to the user according to the following force feedback control algorithm, as follows:
(A) a displacement sensor in the device registers the displacement P of the collarmAnd is combined with PmReal-time mapping into a virtual scene, and calculating the virtual interaction force F according to the depth of the virtual agent penetrating into a virtual object in the virtual sceneobj(ii) a Meanwhile, the user can visually observe the deformation of the virtual object;
(B) virtual interaction force FobjFirstly, the force F after smoothing is obtained by a low-pass filtero′bjAnd reproducing the magnetic current variable damper by using the magnetic current variable damper, which comprises the following steps: fo′bjObtaining a corresponding target magnetic induction intensity value B according to a magnetic induction intensity-force relation curve of the magnetorheological fluid damper; the numerical control constant current power supply firstly outputs an excitation current I to the magnetorheological fluid damper according to the force-current relation curve of the magnetorheological fluid damperd(ii) a Measuring an actually measured magnetic induction intensity B' applied to a working area of the magnetorheological fluid by using a Hall sensor; b' is used as negative feedback quantity to be compared with B, and the difference value delta B of the negative feedback quantity and the B is used as the exciting current I output by the digital control constant current power supply through the PID controllerdCarrying out adjustment;
(C) obtaining the actual output force F of the magnetorheological fluid damper from B' according to the force-magnetic induction intensity relation curve of the magnetorheological fluid damperd(ii) a Comparison FobjAnd FdIf the difference of the forces is obtained, the difference is F filtered by the low-pass filterobjA medium high frequency part;
(D) reproducing Δ F by virtue of the voice coil motor having an advantage of good high frequency response characteristics; obtaining corresponding driving current I according to the force-current relation curve of the voice coil motorvAnd is driven by an H-bridge motorThe device is used for driving the voice coil motor to output force Fv(ii) a F is to bedAnd FvThe superposition feedback is carried out to the user, so that the accurate force feedback control process is realized;
step 6: after the pressing depth of the user reaches the maximum stroke of the device, the vibration motor generates another specific vibration prompt, and the user stops pressing the lantern ring; when the user disengages the device from the touch screen, the voice coil motor immediately resets the collar.
Has the advantages that: compared with the prior art, the invention has the following advantages:
1. the active and passive combined hybrid force feedback actuator and the control method provided by the invention not only utilize the advantages of large output force range, large force-volume ratio and low energy consumption of the magnetorheological fluid damper, but also combine the characteristic that a voice coil motor can respond to high-frequency force signals, thereby being capable of reproducing virtual interaction force to users with high precision in a large output force range.
2. According to the invention, the Hall sensor is integrated in the magnetorheological fluid damper, so that the actual output force of the damper can be obtained in real time, and the problem that the output force of the damper caused by a hysteresis effect cannot be accurately predicted and controlled is well solved; at the same time, the use of expensive force sensors in force feedback systems is avoided.
3. The invention not only uses the voice coil motor to reproduce the middle-high frequency part of the virtual interaction force, but also uses the voice coil motor to eliminate the initial damping force of the damper and reset the working state of the damper, thereby improving the sense of reality and continuity of interaction between a user and a touch screen by using the device.
4. The method applies the vibration touch prompt to the process of reproducing the virtual interaction force, can eliminate errors introduced by vision when judging the contact state, and can inform the user of stopping the pressing operation in time after the pressing stroke is finished, so that the user is prevented from pressing the touch screen for a long time by using larger force.
5. The pen type force/touch reappearing device and the accurate force feedback control method have the remarkable advantages of portability, compact structure, low energy consumption, large force feedback range, high accuracy, continuous and controllable interaction process and combination of multiple reappearing modes, can be widely applied to multiple intelligent devices with touch screens, are used for improving the reality of interaction between people and the touch screens, and have wide market application prospect.
6. The hybrid force feedback actuator with the Hall sensor has the remarkable advantages of large output force range and high precision, and can be widely applied to multiple application environments such as robots, virtual reality, teleoperation, medical treatment, automobile industry, aerospace and the like.
Drawings
FIG. 1 is a schematic diagram of the general construction of a pen-type force-tactile reproduction device;
FIG. 2 is a schematic diagram of the external configuration of a pen-type force-tactile reproduction device;
FIG. 3 is a schematic view of a magnetorheological fluid damper with a Hall sensor;
fig. 4 is a flow chart of a force feedback control algorithm that accurately reproduces virtual interaction forces.
Detailed Description
In order to make the purpose and technical method of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. Based on the described embodiments of the invention, all other embodiments that can be performed by a person skilled in the art without inventive effort fall within the scope of the invention.
As shown in fig. 1, 2 and 3, a pen type force-tactile reproduction apparatus for a touch screen application and a force control method thereof includes two parts of apparatus improvement and a force feedback control method.
The device comprises a capacitance pen point 1, a connecting cylinder 2, a displacement sensor 3, a lantern ring 4, a connecting rod 5, a cylindrical pen shell 6, a magnetorheological fluid damper 7, a voice coil motor 8, a square pen shell 9, a vibration motor 10, a rechargeable battery 11, a measurement and control circuit 12, a piezoelectric ceramic vibrator 13, a toggle switch 14 and a cover 15.
The magnetorheological fluid damper 7 comprises a left piston rod 701, a piston 709 and a right piston rod 711.
The connecting cylinder 2 and the square pen shell 9 are connected with the cylindrical pen shell 6 through tight fit to form a main structure of the device. The cylinder mouth of connecting cylinder 2 has the internal thread, and the electric capacity nib 1 is fixed in the cylinder mouth department of connecting cylinder 2 through the screw thread for realize the mutual and location of device and touch-sensitive screen. The displacement sensor 3 is fixed inside the connecting cylinder 2 and is connected with the left piston rod 701 of the magnetorheological fluid damper 7 through threads. The collar 4 fits over the exterior of the connector barrel 2 and is free to slide over the exterior of the connector barrel 2. Two apertures are arranged at the right end of the lantern ring 4, the connecting rod 5 can penetrate through the two apertures through tight fit to be connected, and the length of the connecting rod 5 is the same as the diameter of the lantern ring 4. The connecting barrel 2 and the cylindrical pen shell 6 are provided with notches, and the connecting rod 5 can move in the notches. The magnetorheological fluid damper 7 is fixed in the cylindrical pen shell 6 in a limiting mode, a connecting hole 702 is formed in the left end of a left piston rod 701 of the magnetorheological fluid damper, and the connecting rod 5 is fixed in the connecting hole 702 in a tight fit mode. The voice coil motor 8 is fixed inside the square pen shell 9, and the moving coil thereof is connected with the right piston rod 711 of the magnetorheological fluid damper 7 through threads. Therefore, when fingers hold the lantern ring 4 to move left and right on the connecting cylinder 2, the lantern ring 4 can drive the left piston rod 701, the piston 709, the right piston rod 711 and the moving coil of the voice coil motor 8 to move together through the connecting rod 5. The rechargeable battery 11, the vibration motor 10, the measurement and control circuit 12, the piezoelectric ceramic vibrator 13 and the toggle switch 14 are located in the square pen shell 9. The measurement and control circuit 12 is respectively connected with the displacement sensor 3, the magnetorheological fluid damper 7, the voice coil motor 8, the vibration motor 10, the rechargeable battery 11, the piezoelectric ceramic vibrator 13 and the toggle switch 14 through leads. The toggle switch 14 is partially exposed outside the square pen shell 9.
The improvement of the device is that a passive actuator magnetorheological fluid damper 7 is combined with an active actuator voice coil motor 8 to form a mixed force feedback actuator.
As shown in fig. 3, the magnetorheological fluid damper 7 further includes a housing 708, the housing 708 is a tubular structure with two open ends, two ends of the housing 708 are respectively provided with a sealing cap 703 with a through hole, and a piston 709 is arranged in the housing 708. A small annular gap is formed between the inner wall of the outer shell 708 and the outer wall of the piston 709, and the small annular gap is used as a working area of the magnetorheological fluid. Two sides of the piston 709 are respectively connected with the left piston rod 701 and the right piston rod 711 through threads, and the left piston rod 701 and the right piston rod 711 both penetrate through a through hole of the sealing cover 703 on one side of each. The magnetorheological fluid 706 is filled around the left piston rod 701 and the right piston rod 711. A hall sensor 707 is integrated on one side of the piston 709 close to the left piston rod 701, and the hall sensor 707 is in direct contact with the magnetorheological fluid in the working area. The sealing cover 703 is sequentially provided with a waterproof sponge 713, a circular magnetic ring 704, an aluminum ring 712 and a sealing ring 705 which are sleeved on the left piston rod 701 or the right piston rod 711 in the direction towards the piston 709, so as to realize the magnetic sealing of the magnetorheological fluid damper. An excitation coil 710 wound by an enameled wire is arranged on a bobbin of the piston 709. The right end of the excitation coil 710 has a lead-out line 714 which leads out through the right end of the piston 709 and a small hole in the interior of the right piston rod 711.
The pen-based force/touch reproduction apparatus of the present invention is a stand-alone device that, when in operation, requires data communication with an intelligent device via bluetooth. When the virtual agent of the device in the virtual scene collides with the virtual object, the user determines the position where the collision occurs through vibration prompt, and uncertainty of visual judgment on the contact state is avoided. The device uses the magnetorheological fluid damper to reproduce the whole trend of the virtual interaction force, and the Hall sensor measures the magnetic induction intensity applied to the magnetorheological fluid working area, so that the actual output force of the magnetorheological fluid damper is obtained by utilizing a calibrated force-magnetic induction intensity relation curve. Meanwhile, the error between the virtual interaction force and the actual output force is compensated by using the voice coil motor. By reproducing the low-frequency and high-frequency components of the virtual interactive force separately and superimposing these two component forces, a wide-range and high-precision virtual interactive force can be provided to the user.
Specifically, as shown in fig. 4, the precise force feedback control method includes the following steps:
step 1: and constructing a calibration platform of the magnetorheological fluid damper and the voice coil motor, wherein the platform comprises a direct current stabilized voltage power supply, a dynamometer, a position driver, an oscilloscope and a fixing device. For the calibration test of the magnetorheological fluid damper, the magnetorheological fluid damper is fixed on a calibration platform, a pull ring of a dynamometer is connected with a connecting hole 702 on the left side of the magnetorheological fluid damper through a steel wire rope, the dynamometer is fixed on a position driver, and a direct current stabilized power supply provides controllable current for an exciting coil 710 in the magnetorheological fluid damper. Under different current levels, the position driver drives the dynamometer to pull the piston 709 of the magnetorheological fluid damper at a constant speed so that the magnetorheological fluid damper and the shell 708 move relatively. The oscilloscope displays and records the damping force of the magnetorheological fluid damper and the magnetic induction intensity acted on the working area of the magnetorheological fluid measured by the dynamometer and the Hall sensor. For the calibration test of the voice coil motor, the same device and test method as those of the calibration test of the magnetorheological fluid damper are adopted. Therefore, a force-current relation curve, a force-magnetic induction intensity relation curve and a magnetic induction intensity-current relation curve of the magnetorheological fluid damper and a force-current relation curve of the voice coil motor are obtained respectively;
step 2: the intelligent equipment with the touch screen is horizontally placed on a desktop, the pen type force-touch reproducing device is connected with the intelligent equipment through Bluetooth, and a virtual scene displayed on the intelligent equipment is initialized;
and step 3: a user holds the device with one hand to slide on the surface of the touch screen, and when a virtual agent (such as a virtual ball, a virtual probe and the like) of the device in a virtual scene collides with a virtual object, a specific vibration prompt is generated by the vibration motor 10;
and 4, step 4: according to the vibration prompt, a user enables the capacitive pen point 1 of the device to be relatively static and vertical to the touch screen, and then holds the lantern ring 4 with a thumb and a forefinger to press downwards;
and 5: during the compression, the virtual interaction force is accurately reproduced to the user according to the following force feedback control algorithm, as follows:
(A) the displacement sensor 3 in the device registers the displacement P of the collar 4mAnd is combined with PmReal-time mapping into a virtual scene, and calculating the virtual interaction force F according to the depth of the virtual agent penetrating into a virtual object in the virtual sceneobj(ii) a Meanwhile, the user can visually observe the deformation of the virtual object;
(B) virtual interaction force FobjFirstly, the force F after smoothing is obtained by a low-pass filtero′bjReproducing the magnetic current through a magneto-rheological fluid damper; the method specifically comprises the following steps: fo′bjObtaining a corresponding target magnetic induction intensity value B according to a magnetic induction intensity-force relation curve of the magnetorheological fluid damper; the numerical control constant current power supply firstly outputs an excitation current I to the magnetorheological fluid damper according to the force-current relation curve of the magnetorheological fluid damperd(ii) a Measuring an actually measured magnetic induction intensity B' applied to a working area of the magnetorheological fluid by using a Hall sensor; b' is used as negative feedback quantity to be compared with B, and the difference value delta B of the negative feedback quantity and the B is used as the exciting current I output by the digital control constant current power supply through the PID controllerdCarrying out adjustment;
(C) obtaining the actual output force F of the magnetorheological fluid damper from B' according to the force-magnetic induction intensity relation curve of the magnetorheological fluid damperd(ii) a Comparison FobjAnd FdIf the difference of the forces is obtained, the difference is F filtered by the low-pass filterobjA medium high frequency part;
(D) reproducing Δ F by virtue of the voice coil motor having an advantage of good high frequency response characteristics; obtaining corresponding driving current I according to the force-current relation curve of the voice coil motorvAnd the H-bridge motor driver drives the voice coil motor to output force Fv(ii) a F is to bedAnd FvThe superposition feedback is carried out to the user, so that the accurate force feedback control process is realized;
step 6: after the pressing depth of the user reaches the maximum stroke of the device, the vibration motor generates another specific vibration prompt, and the user stops pressing the lantern ring 4; when the user disengages the device from the touch screen, the voice coil motor 8 immediately resets the collar 4.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (1)
1. A force control method of a pen type force-touch reappearing device applied to a touch screen comprises a capacitance pen point (1), a connecting cylinder (2), a displacement sensor (3), a lantern ring (4), a connecting rod (5), a cylindrical pen shell (6), a magnetorheological fluid damper (7), a voice coil motor (8), a square pen shell (9), a vibrating motor (10), a rechargeable battery (11), a measurement and control circuit (12), a piezoelectric ceramic vibrator (13), a toggle switch (14) and a cover (15); the magnetorheological fluid damper (7) comprises a left piston rod (701), a piston (709) and a right piston rod (711); the connecting cylinder (2) and the square pen shell (9) are connected with the cylindrical pen shell (6) through tight fit to form a main body structure of the device; the cylinder opening of the connecting cylinder (2) is provided with internal threads, and the capacitance pen point (1) is fixed at the cylinder opening of the connecting cylinder (2) through threads and used for realizing interaction and positioning of the device and the touch screen; the displacement sensor (3) is fixed inside the connecting cylinder (2) and is in threaded connection with a left piston rod (701) of the magnetorheological fluid damper (7); the lantern ring (4) is sleeved outside the connecting cylinder (2) and can freely slide outside the connecting cylinder (2); the right end of the lantern ring (4) is provided with two small holes, the connecting rod (5) can penetrate through the two small holes in a tight fit mode to be connected, and the length of the connecting rod (5) is the same as the diameter of the lantern ring (4); a notch is formed in the part, connected with the cylindrical pen shell (6), of the connecting cylinder (2), and the connecting rod (5) can move in the notch; the magnetorheological fluid damper (7) is fixed in the cylindrical pen shell (6) in a limiting manner, a connecting hole (702) is formed in the left end of a left piston rod (701) of the magnetorheological fluid damper, and the connecting rod (5) is fixed in the connecting hole (702) in a tight fit manner; the voice coil motor (8) is fixed inside the square pen shell (9), and a moving coil of the voice coil motor is connected with a right piston rod (711) of the magnetorheological fluid damper (7) through threads; when fingers hold the lantern ring (4) to move left and right on the connecting cylinder (2), the lantern ring (4) can drive the left piston rod (701), the piston (709), the right piston rod (711) and the moving coil of the voice coil motor (8) to move together through the connecting rod (5); the rechargeable battery (11), the vibrating motor (10), the measurement and control circuit (12), the piezoelectric ceramic vibrator (13) and the toggle switch (14) are positioned in the square pen shell (9); the measurement and control circuit (12) is respectively connected with the displacement sensor (3), the magnetorheological fluid damper (7), the voice coil motor (8), the vibration motor (10), the rechargeable battery (11), the piezoelectric ceramic vibrator (13) and the toggle switch (14) through leads; the toggle switch (14) is partially exposed out of the square pen shell (9); the square pen shell (9) is provided with a cover (15) for opening and closing; the magnetorheological fluid damper (7) further comprises a shell (708), the shell (708) is of a tubular structure with openings at two ends, two ends of the shell (708) are respectively provided with a sealing cover (703) with a through hole, and a piston (709) is arranged in the shell (708); an annular gap is formed between the inner wall of the shell (708) and the outer wall of the piston (709) and is used as a working area of the magnetorheological fluid; two sides of the piston (709) are respectively in threaded connection with the left piston rod (701) and the right piston rod (711), and the left piston rod (701) and the right piston rod (711) penetrate through holes of the sealing cover (703) on one side of each piston rod; magnetorheological fluid (706) is filled at the peripheries of the left piston rod (701) and the right piston rod (711); a Hall sensor (707) is integrated on one side of the piston (709) close to the left piston rod (701), and the Hall sensor (707) is in direct contact with magnetorheological fluid in a working area; the sealing cover (703) is sequentially provided with a waterproof sponge (713), a circular magnetic ring (704), an aluminum ring (712) and a sealing ring (705) which are sleeved on the left piston rod (701) or the right piston rod (711) towards the direction of the piston (709) so as to realize the magnetic sealing of the magnetorheological fluid damper; an exciting coil (710) wound by enameled wires is arranged on a spool of the piston (709); the right end of the exciting coil (710) is provided with a lead-out wire (714) which is led out through the right end of the piston (709) and a hole inside the right piston rod (711); characterized in that the force control method of the pen-type force-touch reproducing device comprises the following steps:
step 1: constructing a calibration platform of a magnetorheological fluid damper and a voice coil motor, wherein the platform comprises a direct current stabilized power supply, a dynamometer, a position driver, an oscilloscope and a fixing device, and performing a calibration test of the magnetorheological fluid damper; under different current levels, the position driver drives the dynamometer to pull a piston (709) of the magnetorheological fluid damper at a constant speed so that the piston and the shell (708) move relatively; the oscilloscope displays and records the damping force of the magnetorheological fluid damper measured by the dynamometer and the Hall sensor and the magnetic induction intensity acted on the magnetorheological fluid working area, carries out the calibration test of the voice coil motor, adopts the same device and test method as the calibration test of the magnetorheological fluid damper, thereby respectively obtaining a force-current relation curve, a force-magnetic induction intensity relation curve and a magnetic induction intensity-current relation curve of the magnetorheological fluid damper and a force-current relation curve of the voice coil motor;
step 2: the intelligent equipment with the touch screen is horizontally placed on a desktop, the pen type force-touch reproducing device is connected with the intelligent equipment through Bluetooth, and a virtual scene displayed on the intelligent equipment is initialized;
and step 3: a vibration prompt generated by a vibration motor (10) when a virtual agent of the device in a virtual scene collides with a virtual object is generated by holding the reproduction device with one hand of a user and sliding on the surface of the touch screen;
and 4, step 4: according to the vibration prompt, a user enables the capacitive pen point (1) of the device to be kept relatively static and vertical to the touch screen, then the user holds the lantern ring (4) by using a thumb and a forefinger and presses downwards;
and 5: during the pressing, the virtual interaction force is reproduced to the user according to the following force feedback control algorithm, as follows:
(A) a displacement sensor (3) in the device registers the displacement P of the collar (4)mAnd is combined with PmReal-time mapping into a virtual scene, and calculating the virtual interaction force F according to the depth of the virtual agent penetrating into a virtual object in the virtual sceneobj(ii) a Meanwhile, the user can visually observe the deformation of the virtual object;
(B) virtual interaction force FobjThe smoothed force F 'is obtained by passing through a low pass filter'objAnd reproducing the magnetic current variable damper by using the magnetic current variable damper, which comprises the following steps: f'objObtaining a corresponding target magnetic induction intensity value B according to a magnetic induction intensity-force relation curve of the magnetorheological fluid damper; the numerical control constant current power supply firstly outputs an excitation current I to the magnetorheological fluid damper according to the force-current relation curve of the magnetorheological fluid damperd(ii) a Measuring an actually measured magnetic induction intensity B' applied to a working area of the magnetorheological fluid by using a Hall sensor; b' is used as negative feedback quantity to be compared with B, and the difference value delta B of the negative feedback quantity and the B is used as the exciting current I output by the digital control constant current power supply through the PID controllerdCarrying out adjustment;
(C) obtaining the actual output force F of the magnetorheological fluid damper from B' according to the force-magnetic induction intensity relation curve of the magnetorheological fluid damperd(ii) a Comparison FobjAnd FdIf the difference of the forces is obtained, the difference is F filtered by the low-pass filterobjA medium high frequency part;
(D) reproducing Δ F by means of the high frequency response of the voice coil motor; obtaining corresponding driving current I according to the force-current relation curve of the voice coil motorvAnd the H-bridge motor driver drives the voice coil motor to output force Fv(ii) a F is to bedAnd FvThe superposition feedback is carried out to the user, so that the accurate force feedback control process is realized;
step 6: after the pressing depth of the user reaches the maximum stroke of the device, the vibration motor generates another specific vibration prompt, and the user stops pressing the lantern ring (4); when the user disengages the device from the touch screen, the voice coil motor (8) immediately resets the collar (4).
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| CN111015740B (en) * | 2019-12-12 | 2022-05-13 | 中国科学院重庆绿色智能技术研究院 | Touch and slide sensation sensor, flexible finger grabbing system and grabbing method thereof |
| CN111047937A (en) * | 2019-12-14 | 2020-04-21 | 上海工程技术大学 | Operation training system based on magnetorheological fluid |
| CN111176453B (en) * | 2020-01-02 | 2023-08-04 | 国家电网有限公司 | Pen type force touch multi-mode interaction device for virtual electric power safety training |
| CN111161581B (en) * | 2020-01-04 | 2021-06-22 | 国家电网有限公司 | Virtual electric power safety training system with force touch feedback |
| CN111813259B (en) * | 2020-06-05 | 2023-08-22 | 南京信息工程大学 | Finger stall type force touch device for touch screen and feedback control method thereof |
| CN113609655A (en) * | 2021-07-16 | 2021-11-05 | 中国计量大学 | Soft touch reproduction device and method and online shopping method based on soft touch reproduction |
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